cmake_minimum_required(VERSION 3.0.2)
project(dynamic_map_planning)

add_definitions(-std=c++14 -g -O3 -ftree-vectorize -ffast-math -march=native -lpthread)
#add_definitions(-std=c++14)

find_package(PCL REQUIRED)
#find_package(OpenCV 4 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_filters
  sensor_msgs
)


add_definitions(${PCL_DEFINITIONS})

catkin_package(

)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

include_directories(/usr/local/include/munkres)
set(MunkresLIB
        /usr/local/lib/libmunkres.a
        )


#add_executable(map_test src/map_test.cpp)
#target_link_libraries(map_test ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})

#add_executable(local_planning src/local_planning.cpp)
#target_link_libraries(local_planning ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})

#add_executable(local_planning_rank_with_future_risk src/local_planning_rank_with_future_risk.cpp)
#target_link_libraries(local_planning_rank_with_future_risk ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})

add_executable(planning_test src/planning_test.cpp)
target_link_libraries(planning_test ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})

add_executable(planning_return_global src/planning_return_global.cpp)
target_link_libraries(planning_return_global ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})

add_executable(planning_return_global_gazebo_ground_truth src/planning_return_global_gazebo_ground_truth.cpp)
target_link_libraries(planning_return_global_gazebo_ground_truth ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})

add_executable(planning_return_global_nokov_ground_truth src/planning_return_global_nokov_ground_truth.cpp)
target_link_libraries(planning_return_global_nokov_ground_truth ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})


#add_executable(planning_test_ground_truth src/planning_test_ground_truth.cpp)
#target_link_libraries(planning_test_ground_truth ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${MunkresLIB})


